Semiconductor integrated circuit device

ABSTRACT

A motor speed determining circuit determining a rotation speed of a motor is provided and a processing of generating motor driving waveform is switched in accordance with the rotation speed of the motor. A resolver signal outputted from a resolver  2  is converted to a digital value by an R/D converter  3 , and inputted to a computing circuit of resolver value correction  5  via an R/D conversion interface  4 . A current value of a motor M is converted to a digital value by an A/D convertor  8 . The computing circuit of resolver value correction  5  computes a resolver correction value of the inputted digital signal and calculates positional data from a corrected resolver value. The computing circuit of motor control computes a current instruction value from a motor current value subjected to digital conversion by the A/D converter  8  and a motor current instruction value etc., and a motor waveform output circuit  7  generates a motor driving waveform from the current instruction value and outputs the same to a power module PM.

TECHNICAL FIELD

The present invention relates to a semiconductor integrated circuitdevice, more particularly, control technology that is effective formotors. This technology can be suitably used in controllers for motorcontrol used in electric vehicles and hybrid vehicles.

BACKGROUND ART

Electric vehicles or hybrid vehicles are provided with drive motors. Astechnology of detecting a rotation angle of a rotator (output shaft) ofa drive motor, technology using a resolver has been known.

Position detection by this kind of resolver is carried out by convertingan output of a resolver to a rotation angle by an R/D (Resolver/Digital)converter, and a motor control device controls a drive current amountfor controlling rotation of a drive motor in accordance with therotation angle (for example, see Patent Document 1).

FIG. 8 of Patent Document 1 describes that a rotation angle of a motoris detected by a resolver, rotation angle information is converted by anR/D processing portion, then an output value of the resolver iscorrected by a correcting portion, and a CPU controls a motor driver;and also describes that a correction value for correcting an outputvalue of the resolver is stored in a PROM.

RELATED ART DOCUMENT Patent Document

-   Patent Document 1: Japanese Patent Application Laid-Open Publication    No. 2008-256486

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention

However, the inventor of the invention found the following problems inthe position detection technology of a drive motor by a resolverdescribed above.

According to a consideration by the inventor of the present invention,he recognized that there are following problems, which are not describedin Patent Document 1.

In current engine-driven vehicles, engine speed is decelerated by a gearnot to make the engine speed too high in consideration of fuelcombustion efficiency; however, by enabling high revolution driving by amotor, it is possible to relatively reduce deceleration of rotationspeed relying on the gear. Regarding practical motor speed in,particularly, electric vehicles as well as hybrid vehicles, controllingthe rotation speed from 0 rpm in a halting state to a high speed likeover 1000 rpm is preferable, and thus implementing high revolution isanticipated. In accordance with the motor speed, it is necessary for amotor control device to control current to be supplied to a statorcoil/rotator coil of the motor.

Operation of a motor control device having the configuration describedin Patent Document 1 is supposed to be as follows: the CPU receives aninterruption notification and executes program for driving the motordriver in accordance with the correction value at the correcting portionupon every conversion of an output of the resolver to a digital valueindicating a rotation angle at the R/D processing.

When performing drive control of the motor driver by correcting at every5 degrees of rotation angle, a frequency of occurrence of interruptionnotification in motor driving at 1000 rpm is 12 kHz (1000 rpm (about 166rps)×360/5).

There are 1000 steps of processing steps per one interruptionnotification, and when assuming that a ratio of the interruptionprocessing operation occupying the operation processing of the CPU is25%, 48 MHz (12K×4000 steps) is required as an operation frequency(assuming 1 step/1 clock cycle) of the CPU. Meanwhile, it is 36 MHz in ahalting state.

When the CPU is regularly operated at 48 MHz in accordance with 10000rpm, waste power consumption of about 33% occurs.

Also, to improve energy efficiency of the motor by controlling the motorat a precision higher than that of the motor, it is necessary to performcontrol of the current to be supplied to the motor at a finer rotationangle, resulting in a further higher operation frequency upon high-speedrotation, and enlarging diremption of the operation frequency that isnecessary in motor control in a halting state and a high-speed rotationstate.

Further, when controlling the drive motor at a high-speed rotation, timemargin on correction computing by software is lost, posing a fear ofperforming control at a timing with error, and thus there is a problemof a large lowering in driving efficiency of the drive motor.

A preferred aim of the present invention is to provide a semiconductorintegrated circuit device for motor control suppressing operationfrequency of a CPU.

Another preferred aim of the present invention is to provide asemiconductor integrated circuit device for motor control capable ofreducing power consumption.

Moreover, still another preferred aim of the present invention is toprovide a semiconductor integrated circuit device for motor drivercapable of smoothly and efficiently controlling driving of a motor froma halting state to a high-speed rotation of the motor.

The above and other preferred aims and novel characteristics of thepresent invention will be apparent from the description of the presentspecification and the accompanying drawings.

Means for Solving the Problems

A semiconductor integrated circuit device according to the presentinvention determines a motor speed and changes operations in accordancewith the motor speed.

For example, the semiconductor integrated circuit device determines arotation speed of a motor, controls driving of a motor by softwareprocessings by a CPU when the motor speed is smaller than apredetermined rotation speed, and controls driving of a motor by ahardware circuit when the rotation speed of the motor is larger than thepredetermined rotation speed.

Further, the semiconductor integrated circuit device determines a motorspeed, and controls so that driving waveforms of the motor is changeddepending on whether the motor speed is smaller than or larger than apredetermined rotation speed.

Effects of the Invention

The effects obtained by typical aspects of the present invention will bebriefly described below.

(1) As a motor speed can be detected at a high speed and high accuracy,it is possible to more smoothly and more efficiently driving a motorparticularly in controlling high-speed driving.

(2) By switching control depending on a motor speed, it is possible toselect an optimum control method in accordance with processing load.

(3) As an operation speed of a CPU can be suppressed, a reduction inpower consumption of a semiconductor integrated circuit device can beachieved.

BRIEF DESCRIPTIONS OF THE DRAWINGS

FIG. 1 is a block diagram illustrating a configuration example of amotor driving system used in electric vehicles and hybrid vehiclesaccording to a first embodiment of the present invention;

FIG. 2 is a block diagram illustrating a configuration example of asemiconductor integrated circuit device used in the motor driving systemin FIG. 1;

FIG. 3 is an explanatory diagram illustrating an example of a drivingwaveform output of the motor in FIG. 1;

FIG. 4 is an explanatory diagram of an operation of motor control by thesemiconductor integrated circuit device in FIG. 2;

FIG. 5 is an explanatory diagram illustrating a configuration example ofa motor control computing circuit provided in the semiconductorintegrated circuit device in FIG. 2;

FIG. 6 is an image diagram of a resolver value including error and anideal resolver value;

FIG. 7 is an explanatory diagram illustrating an example of energizationswitching timing of a motor at a high revolution according to a comparematch with a resolver value including error;

FIG. 8 is an explanatory diagram illustrating an example of energizationswitching timing of a motor at a high revolution according to a comparematch when a resolver value including error is corrected by software;

FIG. 9 is an explanatory diagram illustrating an operation summary oftechnology of correcting resolver value by the semiconductor integratedcircuit device in FIG. 2;

FIG. 10 is an explanatory diagram illustrating a difference in themaximum rotation number of a motor between a software correctionprocessing and a hardware processing;

FIG. 11 is an explanatory diagram illustrating a comparative example ofcurrent consumption upon sequentially correcting a resolver value;

FIG. 12 is an explanatory diagram illustrating an example of technologyof correcting resolver value by a computing circuit of resolver valuecorrection provided in the semiconductor integrated circuit device inFIG. 2;

FIG. 13 is an explanatory diagram illustrating a comparative exampleupon switching energizing phase of a motor according to a compare matchwith a resolver value including error and a compare match with anerror-corrected resolver value;

FIG. 14 is a block diagram illustrating a configuration example of asemiconductor integrated circuit device configuring a motor drivingsystem used in electric vehicles and hybrid vehicles according to asecond embodiment of the present invention;

FIG. 15 is an explanatory diagram illustrating an example of operationtiming in a CPU in the semiconductor integrated circuit device in FIG.14;

FIG. 16 is a block diagram illustrating a configuration example of asemiconductor integrated circuit device as another aspect of the secondembodiment of the present invention; and

FIG. 17 is an explanatory diagram illustrating an example of operationtiming in a CPU in the semiconductor integrated circuit device in FIG.16.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described indetail with reference to the accompanying drawings. Note that componentshaving the same function are denoted by the same reference symbolsthroughout the drawings for describing the embodiment, and therepetitive description thereof will be omitted.

A semiconductor integrated circuit device (1) according to theembodiment includes a motor speed determining circuit (9) whichdetermines whether a motor is rotating at amid to high revolution orbeing halted to at a low revolution; and controls switching so thatmotor driving control is performed by a software processing by a CPU(10) when the motor is halted to at a low revolution, and so that motordriving control by a hardware circuit (5, 6) is performed when the motoris at a mid to high revolution.

In addition, the semiconductor integrated circuit device (1) includes,as a hardware circuit performing motor driving control, a computingportion of resolver value correction (5, 12) that sequentially correctsa resolver value, which includes error made by counting up a resolversignal converted to a digital signal and outputted from a resolverattached to a motor, by a hardware processing.

Further, in the semiconductor integrated circuit device (1) according tothe embodiment, the computing portion of resolver value correction (5,12) includes: a data storage portion (12) which stores first errorcorrection data of a difference between a resolver value including errorfor one cycle of the resolver and a reference resolver value notincluding error; and a computing circuit of resolver value correction(5) which performs a correcting processing of the resolver valueincluding error based on the first error correction data, the computingcircuit of resolver value correction (5) performing processings of:adding/subtracting the first error correction data to/from the resolvervalue including error inputted; calculating a shift between the resolvervalue not including error and the resolver value including error peroptional cycle obtained by dividing one cycle of the resolver by two ormore; comparing a ratio of the second error correction data and thefirst error correction data; and reflecting the ratio as third errorcorrection data to a next resolver value.

Still further, the semiconductor integrated circuit device (1) accordingto the embodiment is formed in a hardware configuration in which thecomputing circuit of resolver value correction performs a data flowoperation.

Moreover, the semiconductor integrated circuit device (1) according tothe embodiment includes, as another hardware circuit performing motordriving control, a motor control portion (6, 7) which generates a motordriving waveform generating a drive control signal for driving themotor, and the motor control portion (6, 7) calculates positional dataof the motor from the resolver value corrected by the computing portionof resolver value correction (5, 12), computes a current instructionvalue from the positional data, a value of motor current flowing in themotor, and a motor current instruction value, and generates a motordriving waveform from the current instruction value.

A motor driving system according to the embodiment includes: a motor(M); a resolver (2); a power module (PM); and a semiconductor integratedcircuit device (1). The semiconductor integrated circuit device (1)includes: an R/D converter (3); an R/D converting interface (4); a motorwaveform output circuit (7); and an A/D converter (8). The resolver (2)is connected to the R/D converter (3), and an output of the R/Dconverter (3) is connected to the R/D converting interface (4). Currentof the motor (M) is inputted to the A/D converter (8) A motor drivewaveform is outputted from the motor waveform output circuit (7) so thatthe motor (M) is driven via the power module (PM).

First Embodiment

FIG. 1 is a block diagram illustrating a configuration example of amotor driving system used in electric vehicles and hybrid vehicles(hereinafter, called electric vehicles etc).

In the present embodiment, a semiconductor integrated circuit device 1is, as illustrated in FIG. 1, a microcomputer (also calledmicrocontroller) which controls, for example, a three-phase motor M usedin, for example, electric vehicles. The motor M has a resolver 2embedded therein which detects a rotation angle of the motor M.

An R/D converter 3 is connected to a resolver 2, and the semiconductorintegrated circuit device 1 is connected to the R/D converter 3. Notethat, although the R/D converter 3 is provided outside the semiconductorintegrated circuit device 1 in the configuration herein, the R/Dconverter 3 may be provided inside the semiconductor integrated circuitdevice 1. When the R/D converter 3 is provided inside the semiconductorintegrated circuit device 1, the number of parts of the motor drivingsystem is reduced and thus the system can be down-sized, and also a costcan be low.

The resolver 2 generates a sine (sin) wave and a cosine (cos) wave basedon an excitation signal outputted from the R/D converter 3. The R/Dconverter 3 converts the sin wave and cos wave of analog signalsgenerated by the resolver 2 to digital signals and outputs the same tothe semiconductor integrated circuit device 1.

From the R/D converter 3, a digital signal A and a digital signal B madeby converting the sin wave and cos wave of analog signals to digitalsignals, and a Z phase signal Z, where one Z phase signal Z is generatedper one cycle of the motor M, are outputted.

The semiconductor integrated circuit device 1 counts up the digitalsignals A and B converted by the R/D converter 3, detects a rotationangle of the motor M (e.g., 0° to 360°), generates a motor drivingwaveform from a current instruction value generated in accordance withthe rotation angle of the motor M, and outputs the driving waveform to apower module PM. Also, when the Z phase signal Z is inputted, thecounting up is cleared.

FIG. 2 is a block diagram illustrating a configuration example of thesemiconductor integrated circuit device 1.

The semiconductor integrated circuit device 1 is formed of: an R/Dconversion interface 4; a computing circuit of resolver value correction5; a computing circuit of motor control circuit 6 to be a motorcontrolling portion; a motor waveform output circuit 7 to be also amotor controlling portion; an A/D (analog/digital) converter 8; a motorspeed determining circuit 9; a CPU (Central Processing Unit) 10; aninterruption controller 11; and a memory portion 12 to be a data storageportion. In addition, a computing portion of resolver value correctionis formed of the computing circuit of resolver value correction 5 andthe memory portion 12.

Further, the A/D converter 8, the motor speed determining circuit 9, theCPU 10, the interruption controller 11, and the memory 12 are mutuallyconnected via a bus 13, and the computing circuit of resolver valuecorrection is connected to the memory portion 12 via the bus 13 or adedicated bus for reading correction information stored in the memoryportion 12.

The R/D conversion interface 4 is an interface to the R/D converter 3,and counts up the digital signals A and B converted by the R/D converter3. The computing circuit of resolver value correction 5 corrects errorof a resolver value having been counted up (hereinafter, simply calledresolver value), and calculates positional data of the motor M. Themotor control computing circuit 6 computes a current instruction valuefrom the positional data calculated by the computing circuit of resolvervalue correction 5, a motor current value, and a motor currentinstruction value, etc.

The motor waveform output circuit 7 outputs a driving waveform of themotor M based on the current instruction value computed by the motorcontrol computing circuit 6. The A/D converter 8 converts the currentvalue that is an analog signal in the motor M to a motor current valueof a digital signal.

The motor speed determining circuit 9 determines a rotation speed of themotor M, determines that the motor M is in a halting state, at a lowspeed, a mid speed, or a high speed; and, based on a result of thedetermination, the motor speed determining circuit 9 switches motordriving control which will be described below.

The CPU 10 assumes all operation of the semiconductor integrated circuitdevice 1. The interrupt controller 11 controls a interrupt processingfrom the CPU 10 etc. The memory portion 12 is formed of, for example,RAM (Random Access Memory)/ROM (Read Only Memory), and stores programfor motor driving control and data calculated by the computing circuitof resolver value correction 5 etc. The RAM is formed of a volatilememory such as an SRAM or the like and the ROM is formed of anon-volatile memory such as a mask ROM, a flash memory or the like. Aflash memory for data and a flash memory for program may be separatelyconfigured, and a flash memory shared for both data and program may beused. Also, functions of both RAM and ROM may be configured by, forexample, a MRAM (Magnetoresistive Random Access Memory), a phase-changememory, or a ferroelectric memory.

FIG. 3 is an explanatory diagram illustrating an example of a drivingwaveform output of the motor M. Note that, in FIG. 3, only U phase andUB phase (UB phase is a waveform signal of a reverse phase of U phase)are exemplified, and the other phases of V phase, VB phase, W phase, andWB phase are omitted.

The semiconductor integrated circuit device 1 performs, as illustrated,control of driving of the motor M by changing frequency and ON duty of aPWM (Pulse Width Modulation) waveform to be output as a motor drivingwaveform in accordance with the motor speed. The sin waveformillustrated above the U phase/UB phase is a waveform expressing arotation state of the motor M. In addition, the driving control may bein a manner that the motor driving waveform is switched in accordancewith the motor speed as described in Japanese Patent ApplicationLaid-Open Publication No. 2007-20383.

The motor waveform output circuit 7 is configured to be capable ofswitching the motor driving waveform outputted by the motor waveformoutput circuit 7 according to an instruction (setting to a register) orthe motor speed determining circuit 9.

Next, the motor driving control of the semiconductor integrated circuitdevice 1 according to the present embodiment will be described withreference to an explanatory diagram of operation of motor control inFIG. 4.

First, the resolver signal (sin wave, cos wave) outputted from theresolver 2 is converted to a digital value by the R/D converter 3 (stepS101). Also, the semiconductor integrated circuit device 1 converts acurrent value of the motor M to a digital value by the A/D converter 8(step S102).

Subsequently, an R/D conversion interface 102 receives the digitalsignal converted by the R/D converter 3 (step S103), and outputs thesame to the computing circuit of resolver value correction 5 and themotor speed determining circuit 9 (processing path illustrated by thedashed-dotted line in FIG. 4). The motor speed determining circuit 9determines a rotation speed of the motor from frequency of the signalconverted to a digital value by the R/D converter 3.

When the motor speed determining circuit 9 determines that the rotationspeed of the motor M is in a halting state to at a low speed (smallerthan a predetermined rotation speed), the processings of steps S104 toS106 described below are performed by software processings (aninstruction signal between the motor speed determining circuit and theCPU illustrated by the thin solid line in FIG. 4). In the rotation rangeof the motor M, the rotation resistance of the motor is relatively high,and, due to frictional force between tires and roadway surface, it isnecessary to conduct a transitional processing such as increasing arotation torque of the motor M by increasing a current amount as well aslowering a frequency of the motor driving waveform to be supplied to themotor M, and so forth. Since the transitional processing has manyindividual differences and differences depending on peripheralenvironment, it is possible to adjust to characteristics per individualpiece and/or peripheral environment by a software processing.

When the motor speed determining circuit 9 determines that the rotationspeed of the motor M is at a mid speed to a high speed (larger than apredetermined rotation speed), the processings in S104 to S107 describedbelow are hardware processings in respective circuits (the interactionsignal between the motor speed determining circuit and the computingcircuit of resolver value correction illustrated by the thin solid linein FIG. 4). In the rotation range, the rotation resistance of the motorand the frictional resistance to the road surface are relatively small,and thus a processing to adjust to differences in individuals andperipheral environment is unnecessary, and it is necessary to supply amotor driving waveform to the motor at an appropriated timing inaccordance with a rotation angle of the motor; therefore, it is morepreferable to employ hardware processings.

Alternatively, when it is possible to determine a possibility ofcollision from information of a deceleration braking, information of aradar and/or pressing of a brake not particularly illustrated,regardless of the motor speed determination by the motor speeddetermining circuit 9, at an appropriate timing in accordance with therotation speed of the motor, the hardware processings in respectivecircuits in the steps S104 to S107 are performed so that a motor drivingwaveform, which generates a rotation torque in a reverse direction tothe rotation of the tires or the rotator of the motor, is supplied tothe motor.

Note that, when the motor speed is at a predetermined rotation speed,any of the software processings and the hardware processings can beperformed (either of them is performed).

Regarding a boundary of determination between “halting state to lowspeed” and “mid speed to high speed” of the motor speed, a determinationboundary value may be memorized in a non-volatile memory such as a flashmemory of the memory portion 12 and the determination boundary value maybe set in a register R1 of the motor speed determining circuit 9 by theCPU 10 in an initialization operation of the semiconductor integratedcircuit device 1, and so forth. Also, the determination boundary doesnot limit a coincidence of the boundaries among low-speed rotation,mid-speed rotation, and high-speed rotation.

In the following, processings of the steps S104 to S107 will bedescribed as operations of respective circuits when determining that therotation speed of the motor is at a mid speed to a high speed (largerthan a predetermined rotation speed).

The computing circuit of resolver value correction 5 computes a resolvercorrection value of the digital signal inputted from the R/D interface 4or reads the resolver correction value from the memory portion 12 viathe bus 13 (step S104), and calculates a positional data indicating arotation angle of the motor by adding or subtracting the correctionvalue (step S105).

Then, the computing circuit of motor control 6 computes a currentinstruction value from information indicating that braking is from whichone of acceleration or deceleration from an axel or a brake notillustrated, positional data calculated by the computing circuit ofresolver value correction 5, a motor current value digitalized byconversion by the A/D converter 8, a motor current instruction value,etc. (step S106) and outputs the current instruction value to the motorwaveform output circuit 7.

The motor waveform output circuit 7 generates a motor driving waveformfrom the inputted current instruction value and outputs the same to thepower module PM which drives the motor M (step S107).

Note that, in FIG. 4, the dotted lines illustrate processing paths ofthe steps S104 and S105, the thin solid lines illustrate processingpaths of the steps S106 and S107, the dashed-dotted lines illustratepaths of the motor rotation signal, and the bold solid lines illustratepaths in the software processings.

Also, upon performing motor driving control by software processings ofthe CPU when the rotation speed of the motor is determined to be at amid speed to a high speed, the correction computing processing of theresolver value by the computing circuit of resolver value correction 5may be also performed. In this case, instead of the computing ofcorrecting resolver value by the CPU, the control is performed so thatthe resolver correction value in the computing circuit of resolver valuecorrection 5 is outputted to the CPU via the bus 13.

FIG. 5 is an explanatory diagram illustrating a configuration example ofthe computing circuit of motor control 6.

The computing circuit of motor control 6 is formed of, as illustrated,PID control modules 14 and 15, a two-phase/three-phase conversion module16, a three-phase/two-phase conversion module 17, a PWM conversionmodule 18, and adders/subtractors 19 and 20.

The computing circuit of motor control 6 computes bythree-phase/two-phase conversion, PID (Proportional IntegralDifferential) control performed by the PID (14, 15), and filter controlperformed by a filter circuit 21, a two-phase/three-phase conversion,etc. according to information indicating either of braking ofacceleration/deceleration, positional data (correction θ) indicating arotation angle of the motor calculated by the computing circuit ofresolver value correction 5, a motor current value (u, v, w) outputtedfrom the A/D converter 8, a motor current instruction value (′d axiscurrent instruction value, ′q axis current instruction value), etc.; andthe computing circuit of motor control 6 subjects a computation resultof each of u/v/w generated in the conversion to a conversion offrequency/duty for motor control to a reference PWM waveform in the PWMconversion module 18, and outputs the same to the motor waveform outputcircuit 7 as a current instruction value of each of u/v/w. The currentinstruction value generates a motor driving waveform which generates arotation torque in a normal direction to the rotation of the motor in anacceleration braking of an automobile, and the current instruction valuegenerates a motor driving waveform which generates a rotation torque ina reverse direction to the rotation of the motor in a decelerationbraking.

And, the motor waveform output circuit 7 outputs the motor drivingwaveform illustrated in FIG. 3 to the power module PM according to thecurrent instruction value computed by the computing circuit of motorcontrol 6.

Next, technique of correcting error with respect to the resolver valuewill be described.

FIG. 6 is an image diagram illustrating an ideal resolver value and aresolver value including error in an exaggerated manner for facilitatingunderstanding.

Generally, the resolver value by the resolver 2 is a value includingerror to an ideal value illustrated by the dotted line in FIG. 6 withoutexception as illustrated by the solid line in FIG. 6 due to mechanicalerror in, for example, the shape, size, variations of the resolver,electric variations of winding, wiring, floating capacitance, etc., andvariations upon attachment such as decentering and shifts of zero pointand so forth. Note that, as the resolver value is a digital value, theresolver value is in a step-like manner like the enlarged diagram asillustrated at the lower left in FIG. 6.

FIG. 7 is an explanatory diagram illustrating an example of timing ofenergization switching (for example, 120°) in a high revolution of themotor according to a compare match with a resolver value includingerror.

Here, the normal U phase (U), normal V phase (V), normal W phase (W),reverse U phase (UB), reverse V phase (VB), and reverse W phase (WB) areoutput signals from the semiconductor integrated circuit device 1. Theseoutput signals control the U phase, V phase, and W phase of the motor Mvia the power module PM.

In this situation, when the resolver value reaches a compare value thatis previously set, energizing phases of the motor are switched, and thusswitching timings of the motor are different in a resolver valueincluding error (illustrated by the solid line in FIG. 7) and an idealresolver value not including error (illustrated by the dotted line) evenat the same compare value as illustrated, resulting in error; therefore,advance and/or delay of energization switching occurs, and thus amagnetic field generated by currents flowed in coils of respectivephases of U, V, W disarrange the rotation of the rotator of the motor,resulting in a lowering in rotation efficiency as the motor does notsmoothly operates.

Further, FIG. 8 is an explanatory diagram illustrating a portion forswitching energization in FIG. 7 in an enlarged manner.

To switch energization of the motor drive current at an appropriatetiming with respect to the resolver value including error (the step-likewaveform illustrated by the thin solid like), it is necessary to correctthe compare value (compare value illustrated by the thin solid line).Meanwhile, to switch energization of the motor drive current at anappropriate timing with respect to the ideal resolver value notincluding error (the step-like waveform illustrated by the thin dottedline) after correcting the resolver value by correction data, it isunnecessary to correct the compare value (compare value illustrated bythe bold dotted line).

In the correction technique by software in correction of resolver value,performing correction computing by software from, for example,correction data (data of past cycles at a low-speed revolution, etc.)with respect to the resolver value can be considered. In this case,update frequency of correction computing and computing processing timeof software are problematic. If the computing processing time is longand the update frequency of correction computing is low, sufficientcorrection cannot be performed and error remains (the step-like waveformillustrated by the thin solid line). The ratio of error is relativelysmall in a low-speed revolution of the motor, but the ratio of error isrelatively large in a high-speed revolution of the motor, and thusenergization switching control including computing error is made. Notethat the motor ideal waveform and the motor waveform including error inFIG. 8 are output signals from the semiconductor integrated circuitdevice 1 such as the normal U phase (U) in FIG. 7.

FIG. 9 is an explanatory diagram illustrating an operation summary ofthe technique of correcting resolver value by the semiconductorintegrated circuit device 1 of the present invention.

In the semiconductor integrated circuit device 1, the resolver value issequentially corrected by the hardware processings performed by thecomputing circuit of resolver value correction 5. A sequentialconversion logic of the computing circuit of resolver value correction 5computes a correction value from a rotation cycle and the resolver valuebeing inputted, and outputs a resolver value corrected by adding orsubtracting the correction value to/from the resolver value. By thesequential correction, error is largely reduced, and the resolver valueincluding error (illustrated by the solid line in FIG. 9) can be closeto the ideal resolver value (illustrated by the dotted line in FIG. 9).Note that the motor ideal waveform and the sequentially-corrected motorwaveform are output signals from the semiconductor integrated circuitdevice 1 such as the normal U phase (U) in FIG. 7.

When performing the same processings by software, as illustrated in theflowchart on the right side of FIG. 9, each of the processings of thesteps takes ten plus several cycles, for example.

Assuming that 50 cycles are required for processings of steps S201 toS204, to finish these processings in 488 nm (500 Hz (2 ms) for one cyclewith 12-bit accuracy), CPU processing performance of about 102 MHz isrequired.

For example, when 120 MHz is required for the other motor control, theCPU is required to operate at about 222 MHz. Also in this case,interrupt processings occur frequently and it results in a limitation oftiming; therefore, if it is tried to make interruptions occupy 10% orless of CPU load, the CPU is required to work at an operation speed ofabout 1 GHz. The operation speed of the CPU is surely achievable in viewof technology but it results in large power consumption. In addition, toconsider as motor control in an automobile, there are a period in whichthe motor is in mid-speed to high-speed revolution and a period in whichthe motor is in a halting state to a low-speed revolution, and the CPUhas an excessive processing performance in the period of halting stateto low-speed revolution; therefore, there is wasted power consumption ofthe CPU.

On the contrary, when sequentially correcting error of the resolvervalue by software processings by the computing circuit of resolver valuecorrection 5, assuming that the processing cycle is about 15 cycles, tofinish the processings in 488 ns, a hardware logic to operate at onlyabout 30 MHz is required. In addition, there is no need to consider theCPU load ratio as the computing circuit of resolver value correction 5operates separately from the CPU 10.

FIG. 10 is an explanatory diagram illustrating differences in a maximumrotation number of the motor in performing the correction processing bysoftware and performing hardware processing by the computing circuit ofresolver value correction 5 when the operation speed of the CPU is 100MHz.

As illustrated, with CPU load ratio of about 10%, the motor rotationnumber is about 48.8 Hz (about 3000 rpm), and with CPU load ratio of100% (when the correction processings are carried out by software), themotor rotation number is about 488 Hz (about 30000 rpm).

On the contrary, when the hardware processings by the computing circuitof resolver value correction 5 are performed, the motor revolution valuecan be largely increased to about 1627 Hz (about 98000 rpm).

FIG. 11 is an explanatory diagram illustrating a comparative example ofconsumption current upon sequentially correcting the resolver value. Itis considered here that the operation frequency current.

When the software processings are performed without lowering the CPUload ratio, as compared with the hardware processings by the computingcircuit of resolver value correction 5, since the operation processingsof the CPU are increased as the motor revolution value is increased;therefore, current consumption is large.

Further, to lower the CPU load ratio (about 10%) by the softwareprocessings, processing speed of the CPU should be increased to about 1GHz as mentioned above, and it causes further larger currentconsumption.

Therefore, instead of controlling the motor by software control by theCPU from a halting state to a high speed of the motor speed, anoperation frequency of the CPU is decided in consideration of powerconsumption in the semiconductor integrated circuit device 1, and thesoftware control is performed in the motor rotation range of a haltingstate to a low speed so that the torque of the motor can be controlleddepending on the situation, and, by performing control of switchingcontrol in accordance with respective processings by hardware inlow-speed, mid-speed, and high-speed rotation ranges of the motor, it ispossible to achieve proper power consumption in the semiconductorintegrated circuit device 1.

In addition, in the computing circuit of resolver value correction 5,computing circuit of motor control 6, and motor waveform output circuit7, a synchronization operation with clock at which the CPU etc. operateis not performed, but a data flow operation in accordance with inputsfrom the R/D converter 3 is performed instead, thereby achieving morereduction in power consumption.

FIG. 12 is an explanatory diagram illustrating an example of techniqueof correcting the resolver value by the computing circuit of resolvervalue correction 5.

In this case, as illustrated, the computing circuit of resolver valuecorrection 5 generates a certain cycle using a Z phase signal Z (Z phaseinput), a compare signal, a timer, etc. and calculates a correctionvalue per count from an ideal resolver value (dotted line) and an actualresolver value (solid line).

First, error is obtained from an actual resolver value of one cycle inthe resolver 2 and an ideal value that is obtained from an initialposition of rotation of the motor and an elapsed time of rotation, andthe error is taken as error A and stored (for example, in the memoryportion 12, etc.) (processing 1). Error between an ideal value read fromthe memory portion 12 per optional certain cycle (shorter is better) andthe resolver value is calculated as error B (processing 2). From a ratioof the error A and the error B, a correction value thereafter iscalculated and reflected as a correction value to a resolver valuethereafter (processing 3).

After reflecting, the step is back to the processing 2 and thecorrection is repeated sequentially. Also, if necessary, a processing ofsmoothing error C (n) and error C (n−1) is added to the processings 1 to3.

Note that, the reading of the ideal value from the memory portion 12 maybe reading the ideal value corresponding to a rotation position of themotor per an optional certain cycle or reading an ideal value of onecycle of the motor from the memory portion 12 to a memory such as a RAM,which is not illustrated, provided in the computing circuit of resolvervalue correction 5.

In this manner, through the correction, data storing, and reading byhardware processings of the resolver value by the computing circuit ofresolver value correction 5, as illustrated on the upper side of FIG.13, it is possible to generate a motor driving waveform at the mostsuitable timing.

Meanwhile, when error is included in the resolver value, as illustratedon the bottom side of FIG. 13, the timing of the motor driving waveformis messed up by only the error, making it impossible to achieve smoothrotation.

Note that, the normal U phase (U), normal V phase (V), normal W phase(W), reverse U phase (UB), reverse V phase (V), and reverse W phase (WE)are output signals from the semiconductor integrated circuit device 1 inthe same manner as FIG. 7. These output signals control the U phase, Vphase, and W phase of the motor M via the power module PM.

In this manner, according to the present embodiment, it is possible tohave a timing of switching energization closer to an ideal one, and thusthe rotation of the motor M can be efficient and at a higher revolution.Across a halting state (0 rpm) to a high-speed rotation (10000 rpm ormore) of the motor, the driving of motor can be efficiently controlled.

Second Embodiment

A second embodiment will be described about differences from the firstembodiment that functions from correction of resolver value to controlof a motor M are divided by a plurality of CPUs, so that lower frequencyand lower power consumption are achieved. Signal lines related to thecontrol of the present embodiment are illustrated by dotted lines in thedrawings.

A semiconductor integrated circuit device according to the secondembodiment illustrated in FIG. 14 includes two CPUs of a first CPU and asecond CPU (10-1, 10-2), a CPG 100 which generates clock to be suppliedto a functional module of the semiconductor integrated circuit devicesuch as CPU, a divider 101 which stops supply of the clock generated bythe CPG and divides frequency, and a power circuit 102 which controlsstop of power supply to a functional module in a halting state ofoperation.

Together with the timing of FIG. 15, operations of the semiconductorintegrated circuit device in FIG. 14 will be described.

An output of an R/D converter 3 which converts an output value of aresolver 2 which detects rotation of a motor M of an electric vehicleetc. is inputted to an R/D conversion interface 4 and supplied to amotor speed determining circuit 9 as rotation speed information of themotor M by the R/D conversion interface 4; when the rotation speed ofthe motor M is from a halting state to a rotation speed lower than orequal to a first rotation speed (control switching rotation speed)(timing t0 to t1), the R/D conversion interface 4 notifies aninterruption controller 11 of every signal input from the resolver, andthe interruption controller 11 notifies the CPU 10-1 of generation ofinterrupt. The CPU 10-1 executes an interrupt processing program forgenerating motor control information per every interruptionnotification, performs a correction processing of the resolver valuebeing converted to a digital value and control computing for controllingrotation of the motor M based on the corrected resolver value, andgenerates a current instruction value.

In accordance with the situation in which the rotation speed of themotor M is increased to be higher than the control switching speed, themotor speed determining circuit 9 notifies the interrupt controller 11(timing t1). The interrupt controller 11 notifies the CPU 10-1 ofgeneration of interrupt, and the CPU 10-1 instructs the divider 101 andthe power circuit 102 to supply power and clock to the CPU 10-2. After astand-by for a predetermined time until the power and clock supplied tothe CPU 10-2 become stable, program for correcting the resolver valuestored in the memory portion 12 is forwarded to a local memory 103 ofthe CPU 10-2 (timing t2). Here, frequency of the clock supplied to theCPU 10-2 may be the same as or lower than an operation frequency of theCPU 10-1 to suit to a frequency at which the resolver value from the RIDconversion interface 4 is inputted and execution of program of resolvervalue correction.

The CPU 10-1 notifies the R/D conversion interface 4 of a notificationnot illustrated after the forwarding of the program of resolver valuecorrection is finished, and the R/D conversion interface 4 stops outputof the resolver value to a bus 13 and switches output so that theresolver value is directly outputted to the CPU 10-2 and furthernotifies the interrupt controller 11 of stop of interrupt generation inaccordance with the output of the resolver value by the R/D conversioninterface 11 (timing t3). The CPU 10-2 corrects the resolver value byfetching and executing the program of resolver value correction storedin the local memory 103 and stores the corrected resolver value to ashared memory 103 shared with the CPU 10-1 (timing t3 to t4).

While the motor M is rotating at a rotation speed higher than thecontrol switching rotation speed (timing t3 to t4), the CPU 10-2computes the correction processing in accordance with every input ofresolver value from the R/D conversion interface 4, and outputs to theshared memory 103. The CPU 10-1 generates a current instruction value byexecuting the control computing program for controlling the rotation ofthe motor M based on the resolver value after correction stored in theshared memory 103 and executes the operation control program as a wholeof the semiconductor integrated circuit device.

Storage of the resolver value after correction to the shared memory 103by the CPU 10-2 may be done by setting a flag per storage by the CPU10-2, and resetting the flag per read as the CPU 10-1 monitors the flagby polling, or generating an interrupt notification per storage of theresolver value after correction.

By forwarding program for correcting the resolver value to the localmemory 103 and fetching the program from the local memory by the CPU10-2, access competition to the bus 13 occurring as the CPU 10-2 fetchesprogram to the memory portion 12 can be avoided.

As the speed of an electric vehicle is decelerated by a brake etc. andthe rotation speed of the motor M becomes lower than the controlswitching rotation speed, in accordance with that, the motor speeddetermining circuit 9 notifies the interrupt controller 11 (timing t4).The interrupt controller 11 notifies the CPU 10-1 of interruptgeneration. The CPU 10-1 notifies the R/D conversion interface ofnotification, which is not illustrated, in accordance with theinterruption notification, and switches output of the resolver value sothat the bus 13 outputs the resolver value, and switches so thatinterruption is generated per input of the resolver value together withswitching. Next, the CPU 10-1 stops execution of program of resolvervalue correction to the CPU 10-2, and instruct the dividers 10-1 and10-2 of stop of clock supply (timing t5).

While transistor leakage current during a halting period of the CPU 10-2can be suppressed by stopping power supply to the CPU 10-2 and the localmemory 103, if stop and start of power supply to the CPU 10-2 arerepeated in a short time, the power consumption may be increased.Therefore, power supply may be stopped after waiting until the motor Mis at a second rotation speed (power supply shutdown speed) that islower than the control switching rotation speed (timing t6). Also,regarding the local memory 103, the power supply is stopped until thespeed first reaches the control switching rotation speed, and, after theforwarding of the program of resolver value correction as the speedreaches the control switching rotation speed, power supply is controlledto be continued until, for example, engine stop (or power off) of theautomobile, thereby also reducing power consumption for forwarding theprogram of resolver value correction.

In the configuration of the semiconductor integrated circuit deviceillustrated in FIG. 16, power and clock are always supplied to the CPU10-2 during a period in which the semiconductor integrated circuitdevice is operating regardless of the rotation speed of the motor M.

Together with the timing in FIG. 17, differences in operations betweenthe semiconductor integrated circuit device illustrated in FIG. 16 andthe semiconductor integrated circuit device illustrated in FIG. 14 willbe described.

In accordance with start of power supply and finish of initializationoperation to the semiconductor integrated circuit device (timing tb0),the CPU 10-1 forwards the program of resolver value correction to beexecuted by the CPU 10-2 to the local memory 103 from the memory portion12. Also, the CPU 10-1 sets frequency of the clock to be supplied to theCPU 10-2 in the divider 101 (128 kHz).

The R/D conversion interface 4 outputs the resolver value to the CPU10-2, and the CPU 10-2 fetches the program of correcting resolver valuefrom the local memory 103, and the resolver value after correction isstored in the shared memory 103.

In accordance with the output from the R/D conversion interface 4,determination of the rotation speed of the motor M is carried out by themotor speed determining circuit 9 and the interrupt controller 11 isnotified in accordance with a detection that the rotation speed isreached to the first rotation speed (timing tb1), and the CPU 10-1 setsa change in the frequency of the clock supplied to the CPU 10-2 in thedivider 101 in accordance with an interrupt notification from theinterrupt controller 11 (128 kHz→4 MHz).

When an electric vehicle etc. is decelerated by a brake etc. inaccordance with the rotation speed of the motor M detected by the motorspeed determining circuit 9, the frequency of the clock to be suppliedto the CPU 10-2 is lowered (timing tb2).

By changing the frequency of the clock to be supplied to the CPU 10-2 tobe increased and decreased in a step-like manner in accordance with therotation speed of the motor M in this manner, power consumption in theCPU 10-2 can be proper as the output from the R/D conversion interface 4and the execution of the program of resolver value correction in the CPU10-2 become appropriate.

Also in the second embodiment, the control described above in terms ofparagraph number can be performed by the CPU 10-1.

In addition, although changing the frequency of the clock to be suppliedwhile the CPU 10-2 is operating is not described in the description ofthe configuration of the semiconductor integrated circuit deviceillustrated in FIG. 14, it is needless to say that power consumption inthe CPU 10-2 is made proper by performing control of increasing anddecreasing the clock frequency in a step-like manner in accordance withthe rotation speed of the motor M, in the same manner as theconfiguration of the semiconductor integrated circuit device illustratedin FIG. 16.

By using a CPU having the same architecture as the CPU 10-1 and the CPU10-2, it becomes possible to use the same program for the program ofresolver value correction, and it becomes possible to lower thedevelopment cost of the program by lowering an occupation rate of theprogram in the memory portion 12. Meanwhile, even when the CPU 10-2 is aCPU having a different architecture and a dedicated program is stored inthe memory 12, there is no more problem arising than an increase in anoccupation rate of the program in the memory portion 12 and an increasein the program development cost; thus, for example, if program ofresolver value correction already exists in a CPU of anotherarchitecture, it is possible to reuse the program.

In the foregoing, the invention made by the inventor of the presentinvention has been concretely described based on the embodiments.However, it is needless to say that the present invention is not limitedto the foregoing embodiments and various modifications and alterationscan be made within the scope of the present invention.

For example, while control techniques of motors used in electricvehicles etc. have been described in the embodiments in the foregoing,the present invention can be used in control techniques of not onlymotors of electric vehicles but also motors in general which requirehigh revolution.

The invention claimed is:
 1. A semiconductor integrated circuit device,comprising: a Central Processing Unit (CPU) executing software; a motorspeed determining circuit for determining whether a rotation speed of adrive motor provided in an automobile is lower than or higher than apredetermined value; a computing portion for computing a resolver valuecorrection; and a motor control portion for generating a motor drivingwaveform for driving the drive motor, wherein the semiconductorintegrated circuit device is capable of switching generating the motordriving waveform by a software processing by the CPU or generating themotor driving waveform by a hardware processing by the motor controlportion, in accordance with the rotation speed of the drive motor,wherein the semiconductor integrated circuit device controls increasingand decreasing a rotation torque of the drive motor, by controlling afrequency of the motor driving waveform for driving the drive motor andan amount of drive current in accordance with a rotation resistance ofthe motor by the software processing by the CPU, in a period in whichthe drive motor is in a halting state or a period in which the rotationspeed of the drive motor is relatively low, when the rotation speed ofthe drive motor is lower than the predetermined value, wherein thesemiconductor integrated circuit device performs control of outputtingthe motor driving waveform in accordance with a rotation angle of thedrive motor by the hardware processing by the motor control portion, ina period in which the rotation speed of the drive motor is relativelyhigh, when the rotation speed of the drive motor is higher than thepredetermined value, and wherein the semiconductor integrated circuitdevice sequentially corrects a resolver value including error made bycounting up a digital signal based on a resolver signal outputted from aresolver attached to the drive motor by a hardware processing by thecomputing portion of resolver value correction.
 2. The semiconductorintegrated circuit device according to claim 1, wherein thesemiconductor integrated circuit device performs control of increasingthe rotation torque of the drive motor by performing control of reducingthe frequency of the motor driving waveform and increasing the amount ofdrive current in accordance with increased rotation resistance of thedrive motor in the software processing.
 3. The semiconductor integratedcircuit device according to claim 1, wherein the computing portion ofresolver value correction has a hardware configuration performing a dataflow operation in which computing is performed in accordance with inputof the resolver signal outputted from the resolver.
 4. The semiconductorintegrated circuit device according to claim 1, wherein the motorcontrol portion calculates positional data of the drive motor from theresolver value corrected by the computing portion of resolver valuecorrection, computes a current instruction value from the positionaldata, a value of motor current flowing in the drive motor, and a motorcurrent instruction value, and generates a motor driving waveform fromthe current instruction value.
 5. The semiconductor integrated circuitdevice according to claim 1, wherein the motor speed determining circuitperforms control of switching of a waveform of the motor drivingwaveform in accordance with the rotation speed of the drive motor. 6.The semiconductor integrated circuit device according to claim 1,wherein the hardware processing, in accordance with a decelerationoperation instruction of the automobile, can be performed to controloutput of a drive signal giving a rotation torque in a reverse directionto a rotation direction of the drive motor in accordance with therotation angle of the drive motor.
 7. An automobile, comprising: aplurality of tires; a motor for driving the tires; a resolver; and asemiconductor integrated circuit device, including: a CPU executingsoftware, a motor speed determining circuit for determining whether arotation speed of the motor is lower than or higher than a predeterminedvalue, a computing portion for computing a resolver value correction,and a motor control portion for generating a motor driving waveform fordriving the motor, wherein the semiconductor integrated circuit deviceis capable of switching generating the motor driving waveform by asoftware processing by the CPU or generating the motor driving waveformby a hardware processing by the motor control portion, in accordancewith the rotation speed of the motor, wherein the semiconductorintegrated circuit device controls increasing and decreasing a rotationtorque of the motor by controlling a frequency of the motor drivingwaveform for driving the motor and an amount of drive current, inaccordance with rotation resistance of the motor by the softwareprocessing by the CPU, in a period in which the motor is in a haltingstate or a period in which the rotation speed of the drive motor isrelatively low, when the rotation speed of the motor is lower than thepredetermined value, wherein the semiconductor integrated circuit deviceperforms control of outputting the motor driving waveform in accordancewith a rotation angle of the motor by the hardware processing by themotor control portion, in a period in which the rotation speed of themotor is relatively high, when the rotation speed of the motor is higherthan the predetermined value, and wherein the semiconductor integratedcircuit device sequentially corrects a resolver value including errormade by counting up a digital signal based on a resolver signaloutputted from the resolver attached to the motor, by a hardwareprocessing by the computing portion of resolver value correction.
 8. Theautomobile according to claim 7, wherein the semiconductor integratedcircuit device performs control of increasing the rotation torque of themotor by performing control of reducing the frequency of the motordriving waveform and increasing the amount of drive current inaccordance with increased rotation resistance of the motor in thesoftware processing.
 9. The automobile according to claim 7, wherein thecomputing portion of resolver value correction of the semiconductorintegrated circuit device has a hardware configuration performing a dataflow operation in which computing is performed in accordance with inputof the resolver signal outputted from the resolver.
 10. The automobileaccording to claim 7, wherein the motor control portion of thesemiconductor integrated circuit device calculates positional data ofthe motor from the resolver value corrected by the computing portion ofresolver value correction, computes a current instruction value from thepositional data, a value of motor current flowing in the motor, and amotor current instruction value, and generates a motor driving waveformfrom the current instruction value.
 11. The automobile according toclaim 7, wherein the motor speed determining circuit performs control ofswitching of a waveform of the motor driving waveform in accordance withthe rotation speed of the motor.
 12. The automobile according to claim7, wherein the hardware processing, in accordance with a decelerationoperation instruction of the automobile, can be performed to controloutput of a drive signal giving a rotation torque in a reverse directionto a rotation direction of the motor in accordance with the rotationangle of the motor.
 13. A motor driving device for a motor that drivestires in an automobile, the motor driving device comprising: anAnalog/Digital (A/D) converter for converting, to a digital signal, aresolver signal outputted from a resolver attached to the motor; and asemiconductor integrated circuit device, including: a CPU executingsoftware, a motor speed determining circuit for determining whether arotation speed of the motor is lower than or higher than a predeterminedvalue, a computing portion for computing a resolver value correction,and a motor control portion for generating a motor driving waveform fordriving the motor, wherein the semiconductor integrated circuit deviceis capable of switching generating the motor driving waveform by asoftware processing by the CPU or generating the motor driving waveformby a hardware processing by the motor control portion, in accordancewith the rotation speed of the motor, wherein the semiconductorintegrated circuit device controls increasing and decreasing a rotationtorque of the motor, by controlling a frequency of the motor drivingwaveform for driving the motor and an amount of drive current inaccordance with rotation resistance of the motor by the softwareprocessing by the CPU, in a period in which the motor is in a haltingstate or a period in which the rotation speed of the drive motor isrelatively low, when the rotation speed of the motor is lower than thepredetermined value, wherein the semiconductor integrated circuit deviceperforms control of outputting the motor driving waveform in accordancewith a rotation angle of the motor by the hardware processing by themotor control portion, in a period in which the rotation speed of themotor is relatively high, when the rotation speed of the motor is higherthan the predetermined value, and wherein the semiconductor integratedcircuit device sequentially corrects a resolver value including errormade by counting up the digital signal outputted from the R/D converterby a hardware processing by the computing portion of resolver valuecorrection.
 14. The motor driving device according to claim 13, whereinthe semiconductor integrated circuit device performs control ofincreasing the rotation torque of the motor by performing control ofreducing the frequency of the motor driving waveform and increasing theamount of drive current in accordance with increased rotation resistanceof the motor in the software processing.
 15. The motor driving deviceaccording to claim 13, wherein the computing portion of resolver valuecorrection of the semiconductor integrated circuit device has a hardwareconfiguration performing a data flow operation in which computing isperformed in accordance with input of the resolver signal outputted fromthe resolver.
 16. The motor driving device according to claim 13,wherein the motor control portion of the semiconductor integratedcircuit device calculates positional data of the motor from the resolvervalue corrected by the computing portion of resolver value correction,computes a current instruction value from the positional data, a valueof motor current flowing in the motor, and a motor current instructionvalue, and generates a motor driving waveform from the currentinstruction value.
 17. The motor driving device according to claim 13,wherein the motor speed determining circuit performs control ofswitching of a waveform of the motor driving waveform in accordance withthe rotation speed of the motor.
 18. The motor driving device accordingto claim 13, wherein the hardware processing, in accordance with adeceleration operation instruction of the automobile, can be performedto control output of a drive signal giving a rotation torque in areverse direction to a rotation direction of the motor in accordancewith the rotation angle of the motor.
 19. A motor driving device for amotor that drives tires in an automobile, the motor driving deviceincluding a semiconductor integrated circuit device comprising: an A/Dconverter for converting, to a digital signal, a resolver signaloutputted from a resolver attached to the motor; a CPU executingsoftware; a motor speed determining circuit for determining whether arotation speed of the motor is lower than or higher than a predeterminedvalue; a computing portion for computing a resolver value correction;and a motor control portion for generating a motor driving waveform fordriving the motor, wherein the semiconductor integrated circuit deviceis capable of switching generating the motor driving waveform by asoftware processing by the CPU or generating the motor driving waveformby a hardware processing by the motor control portion, in accordancewith the rotation speed of the motor, wherein the semiconductorintegrated circuit device controls increasing and decreasing a rotationtorque of the motor, by controlling a frequency of the motor drivingwaveform for driving the motor and an amount of drive current inaccordance with rotation resistance of the motor by the softwareprocessing by the CPU, in a period in which the motor is in a haltingstate or a period in which the rotation speed of the drive motor isrelatively low, when the rotation speed of the motor is lower than thepredetermined value, wherein the semiconductor integrated circuit deviceperforms control of outputting the motor driving waveform in accordancewith a rotation angle of the motor by the hardware processing by themotor control portion, in a period in which the rotation speed of themotor is relatively high, when the rotation speed of the motor is higherthan the predetermined value, and wherein the semiconductor integratedcircuit device sequentially corrects a resolver value including errormade by counting up the digital signal outputted from the R/D converterby a hardware processing by the computing portion of resolver valuecorrection.
 20. The motor driving device according to claim 19, whereinthe semiconductor integrated circuit device performs control ofincreasing the rotation torque of the motor by performing control ofreducing the frequency of the motor driving waveform and increasing theamount of drive current in accordance with increased rotation resistanceof the motor in the software processing.
 21. The motor driving deviceaccording to claim 19, wherein the computing portion of resolver valuecorrection of the semiconductor integrated circuit device has a hardwareconfiguration performing a data flow operation in which computing isperformed in accordance with input of the resolver signal outputted fromthe resolver.
 22. The motor driving device according to claim 19,wherein the motor control portion of the semiconductor integratedcircuit device calculates positional data of the motor from the resolvervalue corrected by the computing portion of resolver value correction,computes a current instruction value from the positional data, a valueof motor current flowing in the motor, and a motor current instructionvalue, and generates a motor driving waveform from the currentinstruction value.
 23. The motor driving device according to claim 19,wherein the motor speed determining circuit performs control ofswitching of a waveform of the motor driving waveform in accordance withthe rotation speed of the motor.
 24. The motor driving device accordingto claim 19, wherein the hardware processing, in accordance with adeceleration operation instruction of the automobile, can be performedto control output of a drive signal giving a rotation torque in areverse direction to a rotation direction of the motor in accordancewith the rotation angle of the motor.